Hi,
I'm using an ICM-20948 in my design, and I plan on using the DMP for sensor fusion computation. I've poured over all available technical documentation (datasheets, EMD user guides, etc.), but still find myself somewhat confused as to the various DMP functions. I've got the DK-20948 Atmel Studio project open, which allows me to jump between the various function calls, but I'm still unclear as to how the mounting matrix is established.
In sensor.c of the DK-20948 Atmel project, the below line (with comment) seems to point to what I'm trying to achieve:
/* Setup accel and gyro mounting matrix and associated angle for current board */
inv_icm20948_init_matrix(&icm_device);
However, when you jump into inv_icm20948_init_matrix() and its various function calls, there doesn't seem to be actual accelerometer or gyroscope measurements taken to 'build' the mounting matrix; all the values are static (usually 0).
Has anyone successfully built a mounting/reference matrix function that allows for arbitrary mounting of the IC?
Thanks!